JP3516982B2 - Control method of vehicle door - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention
The present invention relates to a method of controlling the speed of a door that is driven by a motor. [0002] Electrically driven doors in motor vehicles
Is known. For example, the door is opened by the operation of the motor.
Providing an electric sliding door for a van to be closed is public.
Is knowledge. Motor torque required to open and close doors
Typically varies with door position and vehicle tilt
I do. For example, the vehicle stops on a downhill with the front facing down
The electric motor required by gravity to close the door
Decrease torque. On the other hand, the vehicle goes uphill and the front
If turned up, more to close the door
Torque is required. Vehicle uphill and front up
If you use a motor that's enough to close the door when placed
To close the door when placed downhill.
Adding motor torque results in faster door speeds.
I will. [0003] Therefore, vehicle movements that affect door movements are known.
To compensate for tilt and other factors,
It is desirable to perform control. [0004] An object of the present invention is to provide a door.
Power door closure for vehicles that regulate the operating speed of vehicles
It is to provide a system. [0005] A vehicle door control according to the present invention.
The control method is described in claim 1 of the appended claims.
And features. In a general form of the invention, an electric motor
Adjusts the speed of the door where movement and speed are monitored
Controlled for The motor control voltage is the last of the control voltages.
Is the door speed continuously in the required speed range after incremental adjustment?
When the door moves the required distance while
Incrementally adjusted to reduce the detected speed error.
It is. It controls the activity of the door by selecting the required movement
The door speed is smooth while allowing to adjust by
Bring control. [0007] In one aspect of the invention, the door speed is linked.
The required movement distance of the door while it is too slow is the door speed
Greater than the required movement distance of the door for too long
Good. This results in door speed control in response to excessive speed
Can be more active than controls that respond to too slow speeds.
You. Furthermore, the minimum update period should be a function of the door motion.
The faster the door speed is, the more the required moving distance of the door is
Because the separation occurs rapidly,
The desired more active reduction is inherent. BRIEF DESCRIPTION OF THE DRAWINGS The invention is illustrated by way of example in the accompanying drawings, in which:
Is described below. FIG. 1 is a partially oblique view of a vehicle body 10 of a van type automobile.
FIG. 4 is a perspective view of the door mounted so that the door 12 slides back and forth.
Have been killed. Arm 14 reaches bottom of door 12 inside
And ride on the lower truck 16 hidden under the floor 18.
Support rollers. As best shown in FIG.
The upper arm 22 extends from the door 12 internally.
And the upper truck 30 attached to the side of the vehicle body 10
Rollers 24, 26 and 28 are supported. FIG.
Shows the door 12 in the open position. Door 12
Of the lower track 16 and the upper track 3
0 by moving the roller attached to the door.
You. Each of these tracks 16, 30 is shown in FIG.
So that the upper track 30 at its front end 32
Curves inward to reach a position where door 12 is completely closed
To slide inward to close the door opening
To A sealing weather strip 34 supports the door 12.
And when the door reaches the closed position,
Crimp. Door latch 36 is supported by door 12.
The door 12 latched to the vehicle body 10 to latch it in the closed position.
It is engaged with the hitting element 37 attached. Door latch 36
The striker 37 is shown in more detail in FIG. [0010] As shown in FIG.
When the door 12 approaches its closed position, the striker 37
A housing 38 having a throat 40 for capturing
No. The forked bolt 42 is connected to the housing 3 by the pivot 44.
8 attached. Against throat 40 of striker 37
To enter, the fork bolt 42 is clocked to the secondary latch position.
In this case, the housing 50
The detent 48 attached to the bracket 38
Has detent teeth 52 that engage with latch hooks 54
You. Detent tooth 52 moves on latch hook 54
As a result, when the secondary latch state occurs, the result of the detent 48 is obtained.
The resulting clockwise rotation is first clockwise, then counterclockwise.
The movement causes the follower 62 of the electrical latch switch 60 to
First, move it inward to open the latch switch 60.
To closed, then move outward again to latch
Change the state of the switch 60 from closed to open again. The door 12 is further closed from the secondary latch state.
When it moves, it strikes to the right in FIG.
This causes further movement of the child 37. This is a fork bolt 42
Generates further clockwise rotation to the primary latch position.
In this position, the detent tooth portion 52 is
The door 12 is engaged with the primary hook 55 of FIG.
The compression of the user strip 34 is completely closed. De
The tent tooth 52 moves on the primary hook 55 and moves
Switch, the resulting detent 48 will
At first, a clockwise rotation and then a counterclockwise rotation
Move the follower 62 of the switch 60 inward first.
Change the state of the latch switch 60 from open to closed.
And then move outwards to latch latch 60
Change state from closed to open again. Referring to FIGS. 2 and 3, generally at 70
The illustrated motor drive mechanism 70 is shown. Cable 72
Has an end 75 connected to the arm 22 of the door. Ke
Cable 72 passes through the curved front end of truck 30
Extend and through the grommet 73 as shown in FIG.
Guide sleeve attached to the side wall of the vehicle body 10
74. Guide sleeve 74 is attached to shaft 78
Pulley 76 attached to the shaft 82 and a pulley 80 attached to the shaft 82
And these pulleys connect the cable 72 to the first
Through the reel 84 toward the rear. The first reel 84
Rotate clockwise to wind up the cable 72,
Pull the door 12 forward toward the closed position. The cable 88 has an end 90 at the door arm.
22. Cable 88 to second reel 96
Attached to shaft 95 via track 30 facing away
It extends around the pulley 94. The second reel 96 is
Rotate clockwise to wind up the cable 88,
Pull backward to open door 12. The reels 84 and 96 are mounted on the vehicle body 10 by bolts.
Mounting bracket with the spindle 100 fixed
It is attached to the vehicle body via a socket 98. Drive gear 1
02 is arranged on the spindle 100. reel
84 is rotatably supported on the drive gear 102.
You. The reel 96 is settled on the top of the reel 84,
It is rotatably positioned on the handle 100. housing
106 is suspended from below the bracket 98 and is electrically driven.
Machine 108, this motor is fixed to the bracket 98
Gear 1 arranged on the set spindle 112
10 is driven. The electromagnetic clutch assembly 114
It is arranged on the dollar 112 and meshes with the pinion gear 110
And an input gear (not shown) supported on the drive gear 102.
Output gear 116 meshing with the internal gear tooth row 120.
I do. The output gear 116 is located below the position sensor 124.
Support the slotted disk 122. Drive for lost motion
A coupling portion is provided between the drive gear 102 and the reel 84.
Have been. The lost motion coupling includes a drive tooth as shown in FIG.
A drive projection 126 supported by the wheel 102 and shown in FIG.
Corresponding drive lugs supported by the reel 84 as
Origin 128. The lost motion coupling part is the drive gear 1
02 and the reel 96 are also provided. Driving protrusion
132 is on the upper surface of the drive gear 102 as shown in FIG.
Supported on a reel 96 as shown in FIG.
It may engage with a corresponding drive projection 134. As shown in FIG. 2 and FIG.
The spring 140 is a coil spring, and is a ring of the reels 84 and 96.
It is arranged in the shape opening. The upper end 142 of the spring is the reel 9
6 and the lower end 144 is locked to the reel 84
I have. The tension spring 140 allows the cables 72 and 88 to be
Turn the reel 96 counterclockwise so that it is always maintained in tension.
The reel 84 in the winding direction, and
So that the cable is biased in the clockwise direction.
To work. As best shown in FIGS. 2 and 3,
The reel 84 has a large diameter with a spiral cable groove 156.
Part 15 and a small diameter part 15 having a spiral cable groove 160
8 is provided. The transition groove 162 is a large-diameter cable groove 15.
6 is connected to a small-diameter cable groove 160. cable
The end of 72 is engaged with the outer diameter of the reel 84. Further, as shown in FIGS. 2 and 3,
The reel 96 is configured similarly to the reel 84, and has a spiral casing.
Large diameter section 170 having cable groove 172 and spiral cable
A small-diameter portion 174 having a groove 176. Transition groove 180
Are the large diameter cable groove 172 and the small diameter cable groove 176
And are connected. As shown in FIG.
8 is attached to the reel 96 on the small diameter portion 174.
Have been killed. As best shown in FIG.
186 are mounted on reels 84, 96 and nuts 18
8. Cable 88 connects to outlet 192
The housing 86 via the grommet 190 supported
Come out. In the drawing, door 12 is in a fully open position.
Is shown in place. Cable 88 completes on reel 96
It is completely wound. Cable 72 completes from reel 84
Has been paid out. The tension spring 140 is connected to the reel 84.
96 and only acts to bias the reel 96 counterclockwise.
The reel 84 in a clockwise direction to move the cable 72 and
And 88 are maintained in tension. The vehicle user wants to close the door 12
When the electric circuit described below is used, the electric circuit
ON gear 110, electromagnetic clutch 114 and output gear 1
16 to engage the drive gear 102
You. The clockwise rotational movement of the drive gear 102
The protrusion 126 is engaged with a corresponding drive protrusion 128 of the reel 84.
Then, the reel 84 is rotated clockwise and the cable 7 is rotated.
2 and the cable 72 further closes the door 12
And pull it forward toward The cable 72 is connected to a reel 84
Gradually into the spiral cable groove 156 of the large diameter portion 150
Can be As the door 12 approaches the closed position, the cable
The rule 72 crosses the transition groove 162. Reel 84 rotates further
Then, the cable 72 is the cable of the small diameter portion 158 of the reel 84.
It is wound around the bull groove 160. Therefore, in the large diameter portion 150 of the reel 84,
Winding of the cable 72 takes place further from the closed position.
Small between motor 108 and door 12 over the range of motion.
A high working force / speed relationship. Door 12 into closed position
As approaching, the cable 72 at the small diameter portion 158
The winding takes place between the motor 108 and the door 12
A force / speed relationship is created so that the door 12 approaches the closed position.
Sealing weather strip which engages with the door 12
Larger to overcome the opposing forces of each member, such as
A large closing force. The forward movement of the door 12 causes the cable 88 to move.
Pull out from the reel 96 against the bias of the tension spring 140
It will be understood. The tension spring 140 is connected to the cable 8.
When the reel 8 is unreeled from the reel 96, the spring 140
Always maintain a predetermined level of tension on the cable 88
It works between the two reels 84, 96 in a manner that works. Similarly, opening the door first releases the latch.
Then, the motor 108 is urged in the door opening direction to
108 drives the drive gear 102 in a counterclockwise direction
This is performed by energizing the electromagnetic clutch 114. Drive
The drive projection 132 of the dynamic gear 102 is
The reel 96 is driven counterclockwise by engaging with the
Thus, the cable 88 is wound around this pulley. cave
The handle 88 thus pulls the door 12 in the opening direction. Referring to FIG. 5 and FIG.
The digital processor 205 has, for example, a CPU and
Single chip microprocessor including RAM and I / O device
Motorola (R) MC68HC consisting of Sessa
05C4 may be used. For those who use such a processor
Because it is well known, external crystal and watchdog circuits
Although the standard connection to
Input / output connections specific to the system are shown and the inputs and outputs in FIG.
The force and the output in FIG. Referring specifically to FIG. 5, an on / off switch
(ON / OFF SW) 210 to the processor 205
Give binary INHIBIT (prohibited) input signal
You. This on / off switch 205 is
The vehicle is conveniently located for its driver and its IN
The HIBIT signal processes the binary input signal TOGGLE.
Toggle switch 211 (TOG)
SW) Enable operation of powered door operating device via 211
Or used to prohibit. Toggle switch 2
11 is a person who wants to open the door 12 from inside the vehicle
It is located near the door inside the vehicle for convenience. is there
Alternatively or additionally, the toggle switch 211
It may be arranged for convenience of the driver of the vehicle. Entering
The force signal TOGGLE is in the direction of opening or closing
The operation by the power of the door 12 is started, or in a certain situation.
In order to reverse the direction of the door under the control of the driver in
used. Receiver 212 may be an infrared, electromagnetic or
Remote radiation from a transmitter outside the vehicle due to other radiation
Receives the closing signal and is affected by the signal INHIBIT
Similar to the input signal TOGGLE, except that
Input signal R to the processor 205 used for
Produces an EMOTE input. Such a remote opening system
Is well known to those skilled in the art, and the receiver 212
A known decoding means used for generating the signal REMOTE is
Including. The processor 205 performs a predetermined voltage change.
Generates an interrupt request inside processor 205 when receiving
Interrupt input IRQ. In this system
At least one use of such a request requires that the door be closed.
Many system functions save power when not
The processor 205 is suspended from the “sleep” state.
To "activate" all its functions. Toggle Sui
Switch 211 and receiver 212 are respectively
Via interrupts 206 and 208 to interrupt input IRQ
Connected, such as when the system is
To start the "start". Transmission switch (TRANS SW) 21
5 is a binary input signal PARK to the processor 205
Such as the parking condition of a standard vehicle automatic transmission.
Indicates when the vehicle transmission is in a mode that does not move the vehicle.
Show. This input signal PARK is used when the vehicle does not move.
To allow the power door to operate and whether the vehicle is moving
Or in the open direction when there is a possibility of movement
It is used to prevent such operations. Ignition switch
(IGN SW) 216 sends to processor 205
Giving the binary ignition signal IGN, the condition of the ignition switch
Instruct. The input signal LATCH is output from the door
Signal that can be interpreted to indicate the state of the switch 36.
Signal to the processor 205. This input signal L
ATCH also asserts that door latch 36 of door 12 is
When changing the switch condition, the
Connected to the interrupt input IRQ to create the "start" function
You. Regarding the generation and interpretation of the input signal LATCH,
It will be described in the following text. Processor 20
The input signal PLUNGER for the vehicle body 10
Of the contact between the electrical contacts in the main part of the door 12
Performs hexadecimal display. FIG. 6 shows the position sensor 124.
SENSPOW obtained from the processor 205
An internal light source (LT) 225 that generates light under the control of R is provided
Have been. The position sensor 124 further includes an internal light source 225
And two optical sensors 226 (OP1) and 2
27 (OP2) and a disk 12 with a slot rotatable
2 (FIG. 2) including a standard quadracha detector
Configuration, for example, slotted disks
Light sensor 226 includes alternating blind spots and openings
While in the middle of the part, the light sensor 227 is between the blind part and the opening.
Be on the border. Such a configuration, the rotational speed
(Or position) and interpretation to detect direction
Provide a signal that can be. Position sensor 124 is stationary
The mounted, slotted disk 122 is
H by the door drive output gear 116 of the
You. The optical sensor 226 includes a series resistor 230 (4.
7K) to the inverting buffer 231 and the resistor 2
32 (100K) and a capacitor 233 (100p
F) is connected in parallel from the input of buffer 231 to ground.
ing. Similarly, the optical sensor 227 includes a series resistor 235
(4.7K) connected to the inversion buffer 236,
The resistor 237 (100K) and the capacitor 238 (10
0 pF) is connected in parallel from the input of buffer 236 to ground
Have been. The output of the buffer 231 is
5, the input signal SENSOR1 is supplied to the flip-flop
240 directly connected to the input CLK of the
1 to the input CLK of the flip-flop 242
Have been. Although not shown, the flip-flop 240,
The R and S inputs of 242 are grounded. Buffer 2
The output of 36 is the D input of flip-flops 240 and 242
It is connected to the. The Q output of flip-flop 240 is
Give the input SENSOR2 to the processor 205, and
The Q bar output of the flop 242 enters the processor 205.
Apply force SENSOR3. SENSOR1 is
The rotational position of the motor drive mechanism 70 when the
To indicate speed or when the clutch is not engaged
Processor 205 to indicate the manual door movement of the
A pulse signal that can be interpreted. SENS
OR2 and SENSOR3 are controlled by one direction signal.
A parameter that displays the direction of motion with a higher resolution than given.
Signal, so direction reversal is detected earlier
be able to. In FIG. 6, the internal light source 22 shown in FIG.
5, the signal SENSPOWR controlling the processor 205
Is generated as a binary output of In addition, the door 12 is
Signal DOOR AJAR is set to pro
Generated by the processor 205. This signal can be
And the door ajar (DOOR AJAR) lamp
Or similar to activate a warning signal.
Wear. The output PWM from the processor 205 is 5
Used to control 0 amp power FET 250
It is. The binary PWM signal is output via a resistor 251 (1K).
Connected to the gate of the FET 250,
(10K) is grounded. Source of FET250
Is grounded and its gate is grounded to 5.1 volt
Protected by the zener diode 253. The drain of the FET 250 has an armature 257
Contact 258 connected to the power supply and the voltage B + and the energizing coil 2
59 to the normally closed contact 255 of the relay 256 having
Continued. The armature 257 of the relay 256 is
8 through the armature circuit of FIG.
Normally open contact 264 connected to voltage B + and energizing coil 26
5 connected to the armature 261 of the relay 262 having
I have. The protection zener diode 266 is connected to the relay 26
2 armature 261 and the normally closed contact 255 of the relay 256
Connected between The energizing circuit for relay 256 is grounded.
And the resistor 269 (4
70 Ω) to receive the binary output signal OPEN
And connected to the voltage +12 via the energizing coil 259.
And an NPN transistor 268 having a collector.
This activation circuit further connects to the base of transistor 268.
The resistance 270 (680Ω) between the ground and the energizing coil 25
9 and a free wheeling diode 271
No. Similarly, the energizing circuit for relay 262 is grounded.
The resistor 275 (47
0 Ω) to receive the binary output signal CLOSE via
And the coil connected to the voltage +12 via the energizing coil 265.
And an NPN transistor 274 having a collector. This
The energizing circuit further includes a base of the NPN transistor 274.
276 (680Ω) between the ground and the ground, and the energizing coil
Freewheeling diode 277 over 265
including. High output OPEN of processor 205
Urges the relay 256 to turn the armature 257
+12 button via the armature of the machine 108 and the relay 262
Generates electric current and drives the motor 108 in the direction of opening the door.
(However, the door 12 is closed as described below.
Only when the switch is energized). Or
Also, the relay 262 outputs the signal CLO from the processor 205.
When energized by the SE, the motor 108
And the FET 250 in series. Processor 205
Thus, the electric motor 108 is controlled by its output PWM.
Can be controlled in the direction of door closing, with continuous control
Or pulse width modulation control. The clutch 114 is connected to the ground and the relay 282.
An urging device that is connected between the armature 281 and is electromagnetically urged
Includes coil 280. Freewheeling diode
279 is connected across the coil 280. Relay 2
82 is further connected to a normally closed contact 283 and a voltage B +.
Normally open contact 284 and parallel freewheeling diode
And an energizing coil 285 having a coil 286. Relay 28
2 includes a grounded emitter and a resistor 28.
8 (470Ω) and the output CLU of the processor 205
Connected to TCH and connected via resistor 289 (680Ω)
Includes NPN transistor 287 with grounded base
No. The energizing coil 285 is connected to the collector of the transistor 287.
And the voltage B +. Of the processor 205
The output CLUTCH connects the clutch 114 to the circuit described above.
Energize through. Output UNLATCH of processor 205
Is an NPN transistor 2 having a grounded emitter
91 and a resistor 292 between the base and ground.
(680Ω) via a resistor 290 (470Ω).
It is. The collector of the transistor 291 is connected to the relay 294
Energizing coil 293 and parallel freewheeling coil
Connected to voltage B + via an ion 295. relay
294 further includes a normally open contact 296 connected to voltage B +.
Of the relay 282 via the resistor 298 (470Ω).
The normally closed contact 297 connected to the pole 281 and the armature 29
9 is included. Relay 294 is for door latch 36
Used to control the electrically operated latch release mechanism. As mentioned above, the door latch 36 is
The door 12 is located on the moving door 12, but the door 12 has no power supply.
There is no. Therefore, power and communications are in their closed position.
Provided to the door 12 only. One set of 5 static electricity
Five contact points 300a to 300e on the door 12
One set of spring loaded plunger type electrical contacts 301
a to the door frame of the vehicle body 10 so as to come into contact therewith.
Is located in the system. Door 12 approaches its closed position
The plunger contacts 301a to 301e are
It comes into contact with the corresponding one of the stop contacts 300a to 300e
When door 12 is completely closed, each
The ranger contacts compress against the force of the springs therein.
The stationary contact 300a is connected to the armature 299 of the relay 294.
Then, the stationary contact 300b is grounded. On door 12
Is an unlatching motor 302 for urging the unlatching mechanism
Are connected between the plunger contacts 301a and 301b.
Have been. The latch switch 60 is connected to the plunger contact 3
01c, the plunger contact 301b and the latch release
It is connected between the connection point of the motive 302. Door 12
In addition, the latch release motor 303 is connected to the plunger contact 30.
1d and 301e, and
Lock control device 304 contacts the stationary contacts 300d and 300e.
It also includes a connected electric locking device. The stationary contact 300c is connected to a line 309 (continued to FIG. 5).
), The resistor 310 (100K), and the inversion buffer 31
1 to the input LATCH of the processor 205.
Continued. The stationary contact 300c is further connected to a resistor 312 (47
0Ω) to the voltage BAT and a capacitor
313 (220 pF). Conde
The sensor 314 (0.01 μF)
Grounded from input. Plunger contacts 301a-3
01e is door 1 that includes both secondary and primary latches
Static contact over a small range of motion adjacent to the closed position
It is engaged with points 300a-300e. Door latch
36 is shown in FIG. 4 and the latch switch signal is shown in FIG.
The locus of the signal voltage in FIG.
Latch signal L provided to processor 205 as a function
Represents the voltage of ATCH. Plunger contacts are static contacts
After contact, the door 12 closes and is described with respect to FIG.
Thus, when the door 12 enters the secondary latch position, the latch switch
The switch 60 is closed. In FIG. 7, the door 12 is closed.
Assuming that the latch hook 54 is
The closing of the latch switch 60 is a rising edge 325.
a when the door 12 reaches the secondary latch position.
Opening switch 60 results in falling edge 325b. Further
When the door closes, the latch caused by the primary hook 55
Closing of switch 60 produces a rising edge 325c,
When the address 12 reaches the primary latch, the falling edge 325
yields d. Thus, the binary signal LATCH is
Provided to the door 205 so that the door 12 is close to its closed position.
Movement of the door latch 36 to energize the switch 60
Is displayed. You can now interpret the latch state
You. This condition corresponds to a high level between edges 325a and 325b.
Area before secondary latch represented by voltage level
Or at a low voltage level between edges 325b and 325c.
Secondary latch, or edge 325c, represented by
Primary represented by the high voltage level between
Low voltage following the region before latch or edge 325d
Primary latch represented by level. The plunger contacts 301a to 301e are stationary
Determining when in contact with contacts 300a-300e
Input to the processor 205
Is generated by the subsequent circuits. Relay 2 in FIG.
The normally closed contact 297 of 94 is connected to line 315 (continued in FIG. 5).
Via anti-316 (100K) and inversion buffer 317
Connected to input PLUNGER of processor 205.
A resistor 318 (180K) and a capacitor 319 (0.
01 μF) between the input of the inverting buffer 317 and the ground.
And the capacitor 320 (220 μF)
Connected between line 315 and ground. In operation, the door 12 is being closed.
The clutch device 114 is biased by the relay 282
Therefore, line 315 is connected to resistor 298, armature 281 and
To the voltage B + via the normally open contact 284 of the relay 282.
Continued. Plunger contacts 301a, 301b are stationary contacts
Before contacting points 300a, 300b, a high
Pressure is given. However, these plunger contacts and
When the stationary contact is engaged, line 315 is
Closed contact 297 and armature 299, stationary contact 300a,
301a, latch release motor 302 and plunger connection
Grounded via points 301b, 300b. Resistance 298
The resistance value of 470Ω
Much larger than the armature resistance, this resistance is
5 is dropped to near ground,
Machine 302 from being energized by relay 282
You. Thus, the signal PLUNGER changes and the plan
Display jaw contact. Stationary contact 300a is connected to resistor 298
Can be connected directly, but latches open while door is open
When the motor 302 is energized, the latch release motor 3
02 to the processor 205
Signal PLUNGER from the latch release circuit to avoid
Since the connection is cut off, the connection via the relay 294 as shown in the figure is made.
Is desirable. FIG. 8 is used in the apparatus of FIGS.
1 shows a power supply for generating the various voltages used. AC power generation
The standard power system, including the
Indicated by a battery 330 having a ground terminal and a hot terminal.
Is done. The hot terminals of the battery 330 can have significantly longer weights.
It is connected to terminal B + by instrument wiring 331 of the load. end
For the child B +, all of the circuits in this section denoted by B +
All components are connected. This terminal is for motor, clutch
・ Used for large loads such as coils
You. The voltage at terminal B + is the standard vehicle voltage-usually 1
2 volts, which is very small when large load currents flow on line 331.
Crab descends. Similar long but light load instrument wiring 332
Connects the hot terminal of the battery 330 to the terminal BAT.
You. The voltage at terminal BAT is also
Derived directly from the standard vehicle supply voltage,
Motor and clutch energizing current
It is not affected. Diode 333 is terminal BA
T is connected to terminal +12, and this diode is the same as BAT.
Provide the same voltage and reverse voltage protection. This voltage is
Battery 330 is connected backwards to the system
Used to prevent damage to electronic components.
It is. Finally, terminal +12 is a standard solid state
This is connected to a terminal +5 via a voltage adjusting circuit 334,
5 volts adjusted from the terminal is a sled like an inversion buffer
Obtained for use in solid state electronic circuit components. Controlling the movement of the door 12 in accordance with the present invention
The operation of the digital processor 205 is shown in FIG.
It is shown in FIG. Digital processor 205
Constitutes the routine embodied in FIGS.
The necessary instructions are stored. This instruction is
In accordance with general practices,
The execution is performed stepwise by the total processor 205. Next, referring to FIG. 9 and FIG.
For timing the performance and recording the position of the door 12.
Timer Routine Performed by Digital Processor
Is shown. This routine is used for 250 microseconds.
It is executed repeatedly at regular time intervals. This routine
Enters at block 350 and then at step 352
, The control of the motor is PW (for continuous mode)
Determines whether the mode is M or not.
Pulse of the applied voltage that the motor 108 flows through the FET 250
It is controlled to be changeable by width modulation. As described below
When the door 12 is closed by the electric motor 108,
Motor 108 was controlled to control the speed of the door
Duty cycle pulse width modulated voltage signal
More energized. This duty ratio for speed control
The cycle value is calculated by adding the stop time to the motor torque.
Used to fit. Assuming PWM operation mode
Then, the routine proceeds to control of the FET 250, and
Establish duty cycle. This required deute
Each cycle of the PWM signal turns on the FET.
It is established by controlling the / off time. FET2
Required PWM duty cycle when 50 is on / off
The timing to establish the file begins at step 354.
In this step, FET 250 is now on or off.
The routine determines which is off. If on
If so, the routine proceeds to step 356 where the FE
T250 is required based on the count value of the FET timer
Determine if it was in the cycle. This FET timer
Count value indicates that the FET was on for the required time.
If indicated, this FET is turned off and the FET timer
Is cleared in step 358. Return to step 354
If the FET 250 is off, the step 360
It is determined whether the FET has been off for a required time.
Assuming that FET 250 is off for a required period,
The FET is turned on and the FET timer goes to step 362
Is cleared by Either step 356 or 360
Either of these is the ON or OFF period of the FET is a predetermined
Does not achieve the prescribed value indicated by the tea cycle
The duty cycle signal.
An FET timer to time the on and off periods
Incremented at step 364. The remainder of the timer routine is based on the position sensor
With monitoring the movement of the door based on the output of 124.
You. In the preferred embodiment, this part of the routine
Minutes are only every other interrupt interval of the timer routine
Executed in This condition is determined in step 366
If not, the program is a routine
Break through. Otherwise, this program will
At 368, the output signal SENSOR1 of the sensor 124
Is read out. Then, step 370 is a step of signal SE.
The state of NSOR1 is the last state of signal SENSOR1
Determines if it has changed since it was sampled on
You. Assume that signal SENSOR1 has not changed state.
For example, the pulse time count corresponds to the period of the signal SENSOR1.
The rotation of the PTIM and thus the slotted disk 122
Incremented in step 372 to measure velocity
You. The period PTIM of the signal SENSOR1
Each of the generated signals SENSOR1 representing the speed of motion is
Represents a predetermined distance of door movement. Decoding of the signal PWM
The downtime determined from the duty cycle is as follows:
As mentioned, it is associated with the period PTIM. In step 370, the signal SENSO
If the state of R1 has changed since the last read,
The direction of rotation of the door, and thus the direction of movement of the door 12, is determined.
You. This is performed by steps 374-378,
Is applied to any edge of the signal SENSOR1.
To determine the direction of movement of the door. The signal SENSOR1 is
The state of the logical value 1 and the signal SENSOR2 is the logical value
0, or the signal SENSOR3 is
The signal SENSOR1 is at the logical value 0 although the state is the logical value 1.
If so, the door is closed in step 380.
The condition is indicated and the door closed flag is set. As well
The signal SENSOR1 is at a logical value of 1, and the signal
SENSOR2 is in the state of logical value 1, or
Signal SENSOR1 is at a logic 0 state and signal SE
If NSOR3 is a logical 0 state, step 382
Displays the door open condition, and sets the door open flag
Is set. In either step 380 or 382
Of the door 12 represented by the flag set in
Based on the determined opening or closing, the closing position of the door 12 is determined.
Position between the open and closed positions of the door 12, referred to as
The count value DOORP representing the position is
Or decremented or incremented at each of 386
It is. In step 388, the power of the door 12 is
A cow representing the door momentum since the last time the movement started.
The count value CNT2 is incremented. In this regard, count
The value CNT2 is reset at the start of the power movement of the door 12.
Is done. Next, step 390 indicates that the door 12 is in motion.
Set a door motion flag indicating that This file
This is because the lag is based on a change in the state of the signal SENSOR1.
Flag indicates that the door 12 is
Or the position sensor that produces the sensor pulse described earlier.
Manual movement of the door that drives the rotor of the
Is set when it is being driven. Steps 392 and 394 are steps
372 together with a signal SENSO representing the speed of the door 12
The period of R1 is determined. This process proceeds to step 39
2, this step is based on the signal SENSOR1
It is determined whether or not the logical value is 1. If not 1,
A pulse time count representing the PTIM is taken at step 372.
Is incremented. However, if the sensor signal
When the value reaches 1, the pulse time count is saved and PT
Pulse time count representing IM is reset and signal
Timing of the next cycle of SENSOR1 is started. afterwards,
Also, until the signal SENSOR1 becomes the logical value 1 again,
Step 372 uses the signal SENSOR to count the pulse time count.
It functions to increment so as to time in one cycle. Stay
The pulse time of the PTIM saved in step 394 is
Is a direct measurement of the velocity, which is inversely proportional to
Have. After step 372 or step 394,
The program exits the timer routine. Main execution for controlling the operation of the door 12
The routine is shown in FIG. This routine is
Iteratively repeated until a loop condition is indicated. This main execution routine is executed at step 398.
And then the various two-level inputs shown in FIG.
Read signal status and debounce
A routine 400 for performing the operation is executed. These signals are
INHIBIT, PARK, IGN, PLUNGER,
TOGGLE, REMOTE, IRQ and LATCH
including. This routine is also considered a valid state
Require a predetermined period of time without any change in state
Debounces the signal. These debounce
The state of the signal to be
Is stored in the memory. Next, a diagnosis routine 402 is executed, and
Various signal states read and stored in step 400
Is determined. Further, step 402 is a step for door 1
2 is determined to be in a stopped state. This is like
For example, a predetermined high level of the period PTIM of the signal SENSOR1 is used.
Value. If this condition is detected, the door motion
The lag is cleared and the stop condition of the door is displayed.
Door position determined by the timer routine of FIG.
DOORP is stored, and the position of the stopped door is stored.
You. Next, the main execution routine executes the control flag section.
Execute the set routine 404. This routine 404
Is the initial parameter for opening or closing the door
And when the door is closed the latch of FIG.
Determine the state of the mechanism. This routine is described in FIG.
2 to 13 are described in detail. Next, the power exercise start routine 406 is executed.
And toggle switch 211 or receiver 212
In response to operator-initiated input via
Initiate power movement of door in response to manual movement of door 12
I do. This routine is described with reference to FIGS.
Describe in detail. Next, the power motion control routine 408 is executed.
And the command started by the power motion start routine 406.
Control the power movement of A12. Generally, this routine
Is a change in the state of the signal TOGGLE,
Signal REMOTE, doors that encountered obstructions, full opening
Door to the closed or closed position, and
The power control of the door including the control to respond is performed. This routine
Will be described in detail with reference to FIGS. Next, the main execution routine executes
Article for controlling door speed by pulse width modulation of pressure
Start routine 4 for determining whether or not a case exists
Execute 10. Generally, door speed is too high
When the door reaches a predetermined position,
Energizing pulse at controlled duty cycle
Width modulation is initiated by routine 410 for speed control.
It is. This routine is described in detail in FIGS.
Is shown. Next, the PWM update routine 412 is executed.
You. This routine 412 corresponds to the PWM start routine 410.
Duty cycle of pulse width modulation signal initiated by
To establish Generally, this routine is described in FIGS.
As described in detail with respect to FIG.
The speed of (a) is controlled. Next, the stop time update routine 414 is executed.
In response to a door encountering a disturbing load resistance,
Signal SENSOR1 indicating the stop condition of the machine 108
Of the period PTIM is determined. This stop time depends on the power
Used in motion control routine 408 to respond to disturbance
Determines whether to reverse or stop the power movement of the moving door
I do. The stop time update routine 414 is shown in FIG.
Shown in detail. Next, step 416 is a step of saving power.
Sleep mode that interrupts certain system functions.
Determines whether the computer enters. For example, if the door
When the input switch is fully closed and
If no operation exists, step 416 proceeds to sleep mode.
Enter the code. Next, the system detects the input switch
Invoked in response to the action performed. The main execution routine is
If no condition for reap mode is detected, repeat
Is done. In FIGS. 12 and 13, the power of the door 12 is shown.
4 to initiate opening or closing, and the latch mechanism of FIG.
Control flag set routine for monitoring conditions
Is shown. This routine is entered at step 450
The switch read and stored in step 401.
Step to determine whether there is a change in the state of the switch input
Proceed to step 452. If there is no state change, the program
Exit from the routine. There was a change in the state of the switch
In this routine, the power operation of the door
It is determined whether to be prohibited based on the gear. door
Power operation is prohibited unless the vehicle transmission is parked
Is done. If the transmission is not parked, the door cannot be opened.
The lag is set at step 456. Power door
Other criteria for inhibiting operation may be used.
For example, an invalid signal indicating a broken wire or a blown fuse
If an ignition condition exists, the inhibit flag is set to step 45
Set at 6 to prohibit door power operation. Next, the routine determines the power movement of the door 12.
Door close or open flag is set to start.
Is to be set. Generally, step 458
Signal TOGGLE changes state and the operator
Signal that the input for power operation of
INHIBIT not active and manual switch 210
Is not energized to prohibit door power operation
The door is in the latched position, or
A position is the calibration value DP1 (door closed as shown in FIG. 1)
When the door track is curved inward)
If the door position is not known,
The rug is set. Each of these conditions is
462-466. These conditions
If there is no displacement, the door closing flag is set to step 46.
Set at 8 to power close the door. Also
If not, the door open flag is set in step 470.
To open the door. Step 458 is a change in the signal TOGGLE.
Or the signal REMOTE from the receiver 212 must be detected.
Or step 460 determines if the signal INHIBIT is
Active, the door closing flag
Step 4 for controlling the state of the opening flag of the door and door
68 and 470 are bypassed. Next, the routine proceeds to step 472.
The door is closing but not in the primary latch position
Determine whether The door is in the unlatched state, ie
Opening or latch in primary latch state
If the door opening condition is set in step 474,
Is However, the door is closing and the primary latch
If not, the routine proceeds and the door latches primary.
To monitor the progress of the latch mechanism when closed to a position
Perform a series of steps. This progress is due to the latch switch.
Monitor the signal LATCH controlled by the state of the switch 60
Be monitored by doing. The signal LATCH is shown in FIG.
In the state where the door is closed to the primary latch position
Is shown. In this routine, the door is moved to the edge 325a.
The second edge 325 enters the previous secondary latch area as shown in FIG.
b into the secondary latch area, and
325c;
Into the primary latch position represented by edge 325d of
Decide when. First, the routine proceeds to step 476
, Represented by the state of the previous secondary latch flag.
It is determined whether or not the door has entered the secondary latch area before the operation.
This flag is not set and the door moves to the front secondary latch area.
If this is not the case, the routine
Proceed to step 478 to determine whether signal LATCH is high.
judge. If not high, the program
Get out of the chin. However, if signal LATCH is high and
To indicate that the previous edge 325a has just occurred
If the previous secondary latch area flag is set in step 480,
To indicate that the door has reached the front secondary latch area.
Thereafter, the program exits this routine. Previous 2nd
Once the latch area flag is set, the routine
Door is in secondary latch position via steps 482-486
Detects when has been reached. Step 482 is a secondary latch
The flag is set and the door has already reached the secondary latch area
It is determined whether or not it has been done. This door is secondary
If the switch area has not been reached, step 4
84 indicates a door position count when the signal LATCH is 2;
Determines whether a row has been low for a predetermined number of times,
Accordingly, signal LATCH indicating entry into the secondary latch area
Guarantee the validity of the state. If not, professional
Gram exits this routine. Figure LATCH
Door position count of 2 indicating occurrence of edge 325b of 7
Is determined to be low only during
The flag is set in step 486 and the door is secondary
Indicates that it is in the latch position. After that, the program
Get out of the routine. Secondary latch flag is set
And the program executes the steps 488 to 492 to open the door.
At the time of reaching the previous primary latch area. Step 4
88 indicates that the door has already been set with the previous primary latch flag set.
To indicate whether the previous primary latch area has been reached
I do. If not, this routine
At 470, the signal LATCH goes from low to high.
State that the door has reached the front primary latch area.
It is determined whether it is shown. If not, the program
Ram exits this routine. However, step 49
0 first, signal LATCH goes to edge 325c in FIG.
When it detects that it has become high as indicated by the
Switch flag is set in step 492 and the
Indicates that the data has reached the previous primary latch area. Then le
The door is closed via steps 494 and 496
Detects when the primary latch area is reached. Step 494
Is the door position count when the signal LATCH is at least 1
Is low only during
Guarantee the validity of the LATCH state. If not
If so, the program exits this routine. But,
The signal LATCH is 1 indicating the occurrence of the edge 325d in FIG.
When the door is low for the period of the door position count
Switch flag is set in step 496,
Indicates that the door has reached the primary latch area. Then,
The program exits the routine. As mentioned above,
Steps 476-496 advance the door when the door is closing
Monitoring until the door enters the primary latch area
Are displayed step by step. Next, the routine is a power exercise start routine.
Then, the power movement of the door 12 is started. In general, the door
The power movement of the door closing set in FIGS. 12 and 13
In response to flag or door open flag or power
Door detected hand where movement is initiated in manual movement direction
Initiated in response to dynamic movement. The power exercise start routine includes step 500
At, then power movement of the door is possible
Proceed to determination of whether The disabled condition is (A) ON / OFF
The signal I in response to actuation of the switch 210 to the off position
With NHIBIT, (B) a diagnostic route that shows interference conditions
Or (C) the power movement of the door is already open.
It will be represented if started. Power movement is disabled
If so, the program exits the routine. But,
If door power movement is enabled, the routine
Determine if a power movement should be started and, if so,
If so, proceed to the start of the power movement of the door. First, the door is closed in the primary latch position.
Suppose that the power movement has not yet begun.
Assuming these conditions and starting at step 504,
Chin determines if the unlatch flag is set
I do. Upon an initial reset, step 506 is performed
Is determined whether or not is exercising. This condition is
Door controlled by timer routine at step 390
Represented by a motion flag. Door 12 is moving at first
If not, the routine proceeds to step 508.
Only the state of the door closure flag is sampled here.
You. This flag is described above with respect to FIGS.
Detects a condition to initiate door power closure
Sometimes set. Assuming the door is closed
Because this flag is not set, the routine
Proceed to step 510, and check whether the door open flag is set.
Determine whether This flag is used again in FIGS.
Controlled via routine to start opening door 12
Set when a condition to perform is indicated. This hula
When the program is reset, the program exits from this routine.
Exit and power movement is not started. Next, the operator operates the toggle switch 211.
Or start the power movement of the door 12.
If the receiver 212 is operated,
The condition for setting the door open flag
Detected. Next, step 512 is the power of the door.
Determine if opening should be initiated. forbidden
The condition may be, for example, in response to a
Displayed in response to the speed being not in the parking position. Ban
If it is determined, the timer routine shown in FIGS.
The door position DOORP is determined by the stop of the processor 205.
It is stored in the stop position storage location. After that, the program
Get out of the routine. However, power release must be prohibited
If step 516 sets the latch release flag,
Clear the power release flag and start the power motion of the door
You. Next, the routine starts to release the latch of the door.
Then, the unlatch motor 302 completes the unlatch function.
Wait for a period of time to allow
To start. This begins at step 518, where it is delayed.
Delay timer, latch release motor 302 latches door
Set to a delay period that represents the time allowed to release
Is Next, the signal UNLATCH is output to step 520.
Set to the active state at
To release the door 12
The detent 52 is rotated so that the shooting pin 37 is released.
Then, during the subsequent execution of the power movement start routine,
Directly from step 504, step 522 includes
Power release is the same criterion used in step 512
It is determined whether or not to be prohibited based on the. Door power
If opening is prohibited,
As described above, the stop position is stored in the memory
Is stored in the memory. Returning to step 522, the power of the door is released.
If not prohibited, step 526 is a step
Whether the time delay started at step 518 has elapsed
Is determined. If not, the program
Get out of the chin. However, this delay has passed and La
When the stitch release function indicates sufficient time to complete,
528 determines if the door is in the latch area.
You. This is a result of the engagement of the contacts 300a, 301a.
Depending on the active state of the resulting signal PLUNGER.
Be forgotten. Signal PLUNGER not active
Or step 530 determines that the detent 52 is bifurcated.
Latch 42 has been rotated to release
The switch 60 is closed (the signal LATCH is
Active state) to open the door 12
Open relay 256 of FIG. 6 is used to excite motor 108.
Power is released to step 532 by exciting
Started. Step 532 also includes a power release flag.
Set the lug and set forward in step 516
Clear the latch release flag that has been set. Control by the timer routine of FIGS. 9 and 10
DOORP value is the absolute position of the door relative to the closed position
In order to indicate the position, the routine will
Clear standing DOORP. This function works in step 5
Begins at 34, where the released flag is
To determine if DOORP has already been initialized.
Set. If the flag is cleared,
Step 536 sets the open flag and then the door
DOORP indicating position count is at step 538
Between the DOORP and the actual door position
Take action. Steps 536 and 538 correspond to the routine
Is bypassed via step 534 during subsequent executions of
You. Next, the routine continues to open the door power.
You. Step 540 sets signal CLUTCH high
When the clutch 114 is energized, the clutch
By engaging the machine 108 and rotating the pulley 96.
Drive the door open. Then go to step 542
In the timer routine shown in FIGS.
Count CNT2 incremented in step 388 is reset
And the door motion flag is set. Count CNT
2 clearer, door 12 moved during powered movement
Give distance monitoring. In the next step 544, the diagram
12 to 13 are controlled by the control flag set.
A) The open and close flags are cleared. Door power open
Release is complete at this time and the program exits the routine.
I can. Once the door power release is started, the power motion
The start routine is bypassed via step 502. Returning to step 530, latch release occurs.
The latch release time (step 526) to be executed has elapsed,
Door still in latch area (step 528)
The latch switch is not closed and the detent 48
Indicates that it was not moved by the
If not, the non-latch switch flag is set to step 5
Is set at 46, and then the stop position of the door is
Stored in step 548. Next, the door 12 stops, and FIG.
Thirteen control flag set routines proceed to step 468.
Assuming you set the door closed flag in
For example, the power exercise start routine includes steps 502 to 506.
Via step 508 as described above, where
The setting state of the door closing flag is detected. Detected
The routine moves the door 12 starting at step 550.
Proceed to initiate force closure, where signal CLOSE is
Set high to excite the closure relay 262 of FIG.
When the FET 250 is turned on, the motor 108 is
Is excited in the closing direction. In addition, the door close flag is set.
Is Thereafter, as described above, the clutch 114
Energized at step 540 to engage motor drive
And starts driving the door in the closing direction. Next, step 5
42 and 544 are performed as described above. door
The start of power shutdown is now complete and the program
Get out of the box. Then, the power movement start routine
Bypassed through the loop 502. The above is a description of the activation of the toggle switch 211.
Responds or simultaneously with a remote command to the receiver 212
Describes the start of the power movement. But de
Power movement is also initiated in response to manual door movement.
It is. When manual movement is detected, the routine
Start the power movement of the door 12 in the direction
Complete the opening or closing of the door under control of the processor 205
You. The switching of the movement from manual to power is performed by the door
When the door is not moved by the operation of the electric motor 108,
Detects motion and starts powered motion in the direction of detected motion
14 to FIG. 14 to complete the manually initiated door movement
This is performed according to a 15 power motion start routine. Described below
In a preferred embodiment, the movement from manual movement to powered movement is
Switching is performed when the door is manually moved a predetermined distance.
Started only when This uses the door for assistance
Passenger of the current vehicle exits the vehicle without starting
Allows movement of the door as a result of entering. Do
The movement of a is a signal SENSOR1 from the position sensor 124.
Cable 72 is connected to the pulleys 84 and 86
When wound on a small diameter section,
The number of signals SENSOR1 representing the determined distance
Is larger than the count number when the reel 72 is wound around the large diameter part.
No. The manual movement of the door is performed in steps 502-50.
6 through a drive motion start routine. Movement
One of the conditions of step 502 that enables the start of the force exercise
Think that the door is no longer powered
Otherwise, the door motion detected by step 506 is detected.
In the lag (set by step 390 in FIG. 10)
The movement of the door, represented by
You. If this condition is detected, the routine proceeds to step 55
2, the door 12 is engaged with the contacts 300a and 301a.
When the signal PLUNGER is high
Whether there is a door in the latch area represented by
I do. If this condition exists, the power movement of the door
The program does not start in response to the detected movement
Exits this routine. However, door 12 latches
If not, the routine proceeds to step 554 where
The cable 72 is wound around the large diameter portions of the pulleys 84 and 96
Indicates the required distance of the door movement when starting the power movement.
The required door position count K from the last door stop position
Determine if the door has moved by one. The door is at this distance
If you didn't exercise only,
Exiting the door, the power movement of the door is not started. Only
If the door moves by the position count number K1,
Step 556 indicates that cable 72 is smaller than position DP1
Of the reels 84 and 96 represented by the door position DOORP.
It is determined whether the small diameter portion is being wound. Door position
If is equal to or greater than DP1, the door
Moves by the required number of counts and starts door power operation
I do. Door position smaller than DP1, cable reel
To show that it is being wound on the small diameter part of 84, 96
If so, the routine proceeds to step 557 where the door movement is
The required door position from the last door stop position indicating the required distance
Determines whether the door has moved by the set count K2
You. In one embodiment, K1 is 25 signals SENS
OR1 and K2 is 64 signals SENSOR1
You. Step 557 determines that the door has the required number of position counts
If you determine that you have not exercised, the program
Exiting the door, the power movement of the door is not started. Only
If the door moves by the required position count K2
The door has moved this number of positions.
To start the power movement of the door. Steps 554-55
7 is the required distance for the door to start powered motion
If it is determined that the user has been exercised by moving, step 558
Determines the direction of movement of the door. The door is being opened manually
If there is, the routine proceeds to step
In steps 512 to 548, the power release of the door is started. door
If is closed manually, step 560 is executed.
(A) It is determined whether the position is smaller than DP1. This embodiment
In, the door position is already substantially closed
If the door is being closed manually at
Movement is not started. Therefore, the door position is smaller than DP1.
If this is the case, the program exits this routine and moves the door.
Force exercise is not started. However, the door position is more than DP1
If so, the routine proceeds to step 5 as described above.
Proceed to start closing door power by 50, 540-544
No. The power movement of the door corresponds to the power movement shown in FIGS.
Once started by the motion start routine, the power motion
Controlled by the power motion control routine of FIGS.
You. In general, this routine has three things:
(1) The operator operates the toggle switch 211
Or a remote signal is received by the receiver 212, or
(2) Door reaches fully open or closed position
Or (3) a disturbance load on the door is detected.
Continue the initiated power movement until one of
I do. In response to these events, the routine will
Reversing the moving direction or terminating the power movement. The power motion control routine includes a step 600.
And at step 602 the power closing flag
Proceed to sample the state of. This flag
Set by step 532 of the power movement start routine.
If not, the state of the power release flag is changed to step 6.
Sampled at 04. This flag is
Previously set in step 550 of the
If not, the power movement did not start,
The program exits the power exercise control routine. The power exercise start routine shown in FIGS.
Assuming that the opening of the power of the door 12 has started, as a result,
When the power release flag is set as step 6
04 and detected in the power opening direction of the door.
The routine is instructed to control the power movement. Follow
The program proceeds to step 606 and the toggle switch
This routine responds to the bias of the
It is determined whether the inversion flag has been previously set. At first,
Assume that the switch inversion flag has not been set.
If so, the program determines the period of the position signal SENSOR1.
PTIM indicates that the door encounters obstruction
Proceed to compare with the stop time. This downtime is
It is controlled by the stop time update routine of FIG. General
In addition, the movement of the door causes the position signal SE to exceed the stop time value.
Stopped or inverted according to the cycle of NSOR1
It is. First, step 608 determines if the PTIM is
Determined to indicate that the door did not encounter an obstruction without crossing
If so, the program proceeds to step 610
The fully open position where the door position DOORP was previously determined.
It is determined whether it is greater than. The door is in this fully open position
If you did not move to a position larger than
Step 612 is a state in which the toggle switch 211 operates the vehicle.
It is determined whether or not the operation has been performed by the diver. If so
If so, the program exits the power motion control routine and
The power movement of the door continues. Position pulse duration
PTIM does not exceed stop time, door position is fully open
Position, or the driver has toggle switch 211
Unless is operated, the power movement starts in FIGS. 14 and 15.
The power release of the door 12 started by the routine continues.
As such, the following steps are repeated. Returning to step 610, the door position DOOR
P exceeds the count value indicating the fully open door position
And When this condition is detected, the power movement of the door 12
Ends. This will disable the open relay 256.
The process begins at step 614 where the motor 108 is deenergized.
At step 616, the engagement with the plunger
When the door is closed, the unlatching motor 302 is controlled.
Signal UNLATCH is reset. Then,
At step 618, the control flag of FIG. 12 and FIG.
Door opening and closing controlled by set routine
The chain flag is cleared. Next, step 620 includes
The state of the switch inversion flag is sampled. Said earlier
As described above, this flag is attached to the toggle switch 211.
Set in response to force. Toggle switch operated
And the switch reversal flag is not cleared.
If the power closing flag is
The power close flag reverses the direction of the door 12
It is determined whether or not it has been set. Power closure flag
If the power release flag is not set,
Is reset at step 624 and the door position D
OORP as stop door position in step 626
It is memorized. The door is first opened after the vehicle is driven.
If so, step 628 returns to door position DOORP.
As a fully open position. After that,
Step is bypassed and the routine proceeds directly to step 630.
By setting the signal LUTCH low here.
By deactivating the clutch 114, the power of the door
The exercise ends. Next, the door is driven in the opening direction by power.
The driver of the vehicle operates the toggle switch 211 while
Suppose that Generally, operation of the toggle switch 211
Reverses the door direction after a predetermined reversal delay time
It works to turn. However, in the preferred embodiment
If the door position is larger than the half-open position,
Is forbidden. Door power, if the condition exists
Opening continues and system is ready for toggle switch operation
Do not respond. This condition is toggled in step 612.
After the switch operation is detected, the routine
Step for comparing the position DOORP with a value representing the half-open position
632. Door position is greater than this value
If yes, the program exits the routine and moves the door.
Force release continues. However, the door position is
In small or alternative embodiments, the door may be powered open.
If the toggle switch is operated while being released
If so, the program executes step 634,
The inversion delay time is set to a predetermined calibration value
You. In addition, the switch inversion flag is set,
-Indicates the operation of the switch. In the delay period represented by the inversion delay time,
In this case, the power release of the door 12 is completed, and this reversal delay
Power closure is initiated only after a lapse of time. In effect,
The door simply "coasts" during the reversal delay. Power release
Is terminated by steps 614 to 618 described above.
Here, the release relay 256 is disabled and driven.
The motor 108 is deenergized. The switch inversion flag is
Since the routine was set in step 634, the routine
The process proceeds from step 620 to step 636, where the inversion delay time has elapsed.
Determine if you have This inversion delay time is set
Program has been started directly from the routine
Exit. After that, this routine starts with the switch reversal flag.
In response to the set condition of
Proceed directly to step 636 to determine if the inversion delay time has elapsed
Is determined. These steps require a reversal delay time.
Until each time the power motion control routine is executed
Be executed. Step 636: Inversion delay time has elapsed
When the routine determines that the door 12 has been powered off,
By starting, it proceeds to complete the power reversal.
This means that the power close flag is set and the power release flag
Is cleared, the switch reversal flag is cleared, and various
In step 638 when the door movement condition is reset
And start. These conditions represent the power movement of the door.
The count incremented in step 388 of FIG.
Downtime calibration, including resetting CNT2
Set to the value. This stop time is the stop time in FIG.
Modified as described in Update Reset. Next, at step 640, the closing relay
262 is energized, the clutch 114 is excited, and the electric field effect
As a result, the transistor 250 is turned on to excite the motor 108.
And drives the door in the closing direction. Then step
In response to the power closed flag set at 638
The program exits the routine in step 622.
I can. The switch sampled in step 620
The switch inversion flag is also cleared in step 638.
Because it has been Power Motion Control of FIGS. 16 to 19
During subsequent executions of the routine, the power movement in the closing direction is
The control is performed as described below. Next, returning to step 608, the door is opened with power.
When released, the period of the position pulse SENSOR1
Increases suddenly beyond the stop time and the door becomes obstructed
What the door encounters resistance to indicate that it has been encountered
Assume that In response to this condition, the routine takes two actions.
Take one of the works. The first action is the direction of the power movement of the door
Flip the door to move the door away from obstruction
That is. Another action terminates the power movement of the door 12.
Is Rukoto. In the preferred embodiment, (1) door
Is more than half open and (2) the door is not powered
Rear detent that keeps the door open when
(3) Encounter with door obstruction
If the door has never been flipped in response to
The power movement is reversed and the door is power closed. these
Is detected in step 642. These articles
If all of the cases are present, the routine proceeds to step 644
And then the door inverted flag is set and
The door's power movement is
Indicates that it has been turned over. Then, steps 638, 640
And steps 614 to 618 are executed to move the door.
Initiate force closure. The program is implemented as described above.
Step 622 exits the routine. Returning to step 642, the power of the door is reversed.
If any of the above conditions exist, the door 12
Steps 638 and 640 for power closure of
Passed. Therefore, the power closing flag is not set,
The switch inversion flag is cleared in step 638.
As a result, as described above, steps 614-61
8 and steps 624-630 are executed to
The power movement 2 is ended. Returning to step 602, the power closing flag is
When in set condition, the routine moves in the direction
To control the power movement in This flag
In the power exercise start routine shown in FIGS.
Or under the control of the power motion control routine of FIGS.
Is set in response to reversal of the door direction. The control of the power movement in the closing direction is a step.
Start at step 646 where the switch reversal flag is set.
The state is sampled. Power movement in opening direction
As described above for the control of
The lag is triggered by the driver reversing the direction of the door.
Set in response to the operation of the toggle switch. In this example
In the meantime, while the door is being closed,
And the control flag set routine of FIG.
This is indicated by the set state of the secondary latch flag controlled.
Only when the door reaches the secondary latch position
In the period PTIM of the signal SENSOR1 exceeding the stop time
Only when the stop condition represented by
Chin responds to the operation of toggle switch 211 to open the door.
Reverse the driving direction. Each of these conditions
648 and 650. Step 6
48 indicates that the door has reached the secondary latch position,
Alternatively, step 650 determines the frequency of the sensor signal SENSOR1.
Toggle indicates that the period does not represent a stop condition.
Switch status is sampled in step 652
Is done. When the driver does not operate the toggle switch 211
If so, the routine proceeds as shown in FIGS.
Primary LA controlled by the control flag set routine
Door complete, as indicated by the switch flag set condition.
It is determined whether the power is completely closed. The door is completely
If not shut down, program is routine
Break through. The door is driven to the fully closed position and the primary
Until the latch flag is set to indicate the fully closed position
Assuming that the condition does not change at step 646-
654 are repeated continuously. This condition is detected
And the program proceeds to end the power movement of the door
You. This starts at step 656, where
12, the closing relay 262 is deenergized, and FIG.
Opening Controlled by a Control Flag Set Routine
And the closing flag is cleared. Then, step 6
58 samples the state of the switch inversion flag.
Since this flag is in reset condition,
In step 660, the state of the power release flag is sampled.
Ring. This flag is also in reset condition
The routine then proceeds to step 662 where the clutch 114
Is deactivated, and at step 664, DOORP is counted.
The value is stored as the door stop position, and the routine proceeds to step 666.
To turn off field effect transistor 250 and power off
Clear the chain flag. After that, the program
Get out of. The above steps will complete the power movement of the door.
The door is powered closed until a fully latched position is obtained.
Give the usual procedure. Next, while the door is being powered closed, the vehicle
The conditions under which both drivers operate toggle switch 211 are provisional.
Then, the operation condition of the switch is
Detected. The routine proceeds to step 668, where
Here, the inversion delay timer is set to a predetermined time delay.
And the switch inversion flag is set. This inversion
The delay timer is related to the control of the power release movement described earlier.
Causes delays in reversing the door in the same manner as described
You. During this period, the power closing of the door is terminated. this
Deactivates the closing relay 262 and turns off the drive motor 108.
This is accomplished by a step 656 of breaking the force. Step 65
8 is a switch inversion flag (set in step 668).
Is detected, and then step 670 is executed.
Determine whether the inversion delay timer has expired. If
Otherwise, the program exits this routine.
Thereafter, step 670 detects the switch reversal flag.
Directly from step 646 in response to the set state
Is executed. Until the inversion delay timer expires, the
Chin repeats steps 602, 646, 670
Then the program exits the routine. Steps
If 670 detects the expiration of the reversal delay time, the door power
Movement reversal is enabled and door power release is started
You. This starts at step 672, where power
The open flag is set and the power close flag is reset.
And the switch inversion flag is cleared. Then, FIG.
2 and the control flag set routine of FIG.
The latch flag to be controlled is
Cleared. Next, step 676 is a field effect scan.
Turn off transistor 250 and excite open relay 256
To excite the motor in the direction to open the door 12
Then, the clutch 114 is energized to electrically operate the door for driving.
Connect the machine output. Step 678 then proceeds to latch release.
Excitation motor 302 is excited to allow power release
Ensuring that the door is completely unlatched. That
Later, the door motion condition is determined in step 638 described above.
Reset as shown. Subsequent execution period of the power motion control routine
Meanwhile, the power release control is detected in step 604.
In response to the power release flag setting condition
It is done like this. Next, while the door is being powered closed, the door is closed.
When the sensor encounters the disturbance, the sensor signal SENSO
The period of R1 increases sharply to a value larger than the stop time
Thus, the door speed is reduced. This condition
A detection is made at step 650 and the resulting routine
Proceeding to step 682, where the routine proceeds to the previous stop condition.
Whether the door has flipped forward as a result of
You. As mentioned earlier regarding door power control,
The power movement of the door has been previously reversed in response to a stop condition.
The power movement of the door as a result of the second stop condition
Ends. But this responds to the detected stop condition
If the door is turned over for the first time,
Is turned and the door is powered open. Step 682 is
If it is determined that this is the first time a stop condition is encountered,
Assuming, the program proceeds to step 684,
Here, the door reversal flag is set. Then do
The power movement of the
656. The routine uses the power release flag.
(Set in step 672).
And proceeds directly from step 660 to step 606.
Control of the power movement in the opening direction
Do. Returning to step 682, the detected stop condition
Routine detects that door has been flipped forward in response to
If so, the power movement of the door will deactivate the closing relay 262
To step 656 where the drive motor 108 is deenergized.
The process is terminated by proceeding. Switch inversion flag and
And the power release flag are both set to the reset condition,
The result routine proceeds from steps 658 and 660,
As mentioned earlier, the door motion has been stopped
Steps 662 to 666 are executed. Predetermined while the door is being powered closed
Position is reached, or the door speed is before a predetermined position
Is too large, the processor 205
Adjust the closing speed of the door by adjusting the torque output of 108
PWM with a controlled duty cycle
(Pulse width modulation) Apply control signal to FET 250 in FIG.
You. Otherwise, FET 250 is usually the largest motor
Controlled on continuously to produce torque output.
Pulse at desired controlled duty cycle
The width modulation signal is the timer routine of FIGS. 9 and 10.
Provided by steps 352 to 364 of FIG. This requirement
The duty cycle of FIG.
2 to 25, a PWM start routine and a PWM update routine.
Established by Chin. The stop time update routine shown in FIG.
Electricity to establish a constant door speed
In the controlled duty cycle of machine 108
Loose width modulation provides the required countermeasures when the door encounters a jamming load.
In order to achieve the rolling load characteristic,
Allows for the determination of stop times that match forces. The PWM start routine shown in FIGS.
Enter at step 700 and proceed to step 702, where
The state of the power closing flag is sampled. Shown earlier
As described above, the pulse width of the voltage applied to the motor 108 varies.
Keying occurs only while the door is being powered closed.
Therefore, if this flag is not set, the program
Exits the PWM start routine. But step 7
If 02 indicates that the door is being powered closed,
Step 704 corresponds to the control flag section of FIGS.
Of the secondary latch flag controlled by the reset routine
Detect conditions. Door has secondary latch flag set
If the door is in the secondary latch area indicated by the
In a substantially closed position in which the door is one
Higher torque to fully close to the next latch position
Required. Further, in this position,
There is no room for it. Therefore, step 706 is performed by the FET 250
Is turned on continuously to generate the maximum motor torque, and the PWM
The flag is reset. This flag is set in step 35
In FIG. 2, according to the timer routine of FIGS.
Is sampled, and the duty
Bypass cycle (PWM) modulation. If the door has not yet reached the secondary latch position
If so, the routine proceeds from step 704 to step 707
Then, the state of the PWM flag is detected. Electric motor
Pulse width modulation has already been started by the PWM start routine.
This flag is set and the program
Get out of the routine. Otherwise, the program will
Step 708, the pulse width modulation of the motor voltage
That it has reached a predetermined position relative to the secondary latch position
Determine if it should be started on the basis. Step 70
8 is the CT1 position where the door position DOORP is the secondary latch position
If the routine determines that it is within the
(A) Pulse width modulation of the voltage applied to the motor 108
To enable the pulse width modulation control of the FET 250,
(B) The initial duty cycle of the pulse width modulation signal is
Proceed to establish. Step 708 is a step in which the door is
Move to the secondary latch position to start pulse width modulation control.
If it is not, the routine returns
Determine whether to start pulse width modulation control based on speed.
Proceed to determine. This is because the door position DOORP is 2
It is determined whether the next latch position is within the position count CT2.
Begin with step 710 to determine. CT2 is larger than CT1
If the door speed is too high
Pulse width modulation is enabled earlier. door
Position DOORP is the position count CT2 of the secondary latch position
If not, the program exits the routine. Only
If it is within the count CT2 of the secondary latch position,
Step 712 is based on the period PTIM of the signal SENSOR1.
To determine if the door is moving too quickly. This cycle
Is less than a predetermined calibration constant indicating premature movement of the door
If so, the program determines the duty of motor 108
Proceed to start cycle modulation control. Step 7
12 determines that the door is not moving at excessive speed
The program exits the routine and
The pulse width modulation control is not started. The pulse width modulation control of the electric motor 108 is started.
Step 7 if any of the conditions for
Duty cycle decrement door position DEC at 14
Is set equal to the current door position DOORP.
This door position corresponds to the PW of FIGS. 22 to 25 described below.
Used in the M update routine. Next Step 71
In step 6, the PWM flag is set and PWM control is performed.
Specified in the timer routine of FIGS. 9 and 10.
The used FET timer is initialized. To ensure a reliable determination of door speed,
If the door is powered by a large distance,
The initial duty cycle of the width modulated signal is
Established based on This is the tie shown in FIGS. 9 and 10.
The distance of the power movement of the door controlled by the
The counted count CNT2 is compared with the calibration value CT3.
Begin at step 718 indicating The door moves
If the distance is not greater than this amount CT3, the door
Not moving by a distance that guarantees a reliable determination of speed
That would be bad. Therefore, for a pulse width modulated signal
The duty cycle value is an intermediate duty, such as 60%.
Step 72 to the calibration constant DC1
Set at 0. However, the door is larger than CT3
If you exercise for a long distance, the initial duty cycle
Is determined based on the door speed. This is step 72
2 where the period PTIM of the signal SENSOR1
The door speed, represented by, represents the high speed threshold
It is compared with the constant SPDHI. PTIM is SPDHI
Smaller, indicating that the door speed is greater than the high speed threshold
Then the initial duty cycle of the pulse width modulated signal
Is set to a low value DCLO, such as 10%. Only
Step 722 determines that the door speed is greater than the high speed threshold.
If it is determined that there is no signal, the period PT of the signal SENSOR1
IM is compared with a calibration constant SPDLO representing the low speed threshold.
It is. PTIM is greater than SPDLO, lower door speed
If it indicates less than the speed threshold, the routine
Proceeding to step 728, where the initial duration of the pulse width modulated signal is
For high DCI values such as 90%
Set. Step 726 sets PTIM to SPDLO
Door speed is no greater than the low speed threshold
If the door speed is determined to indicate
It is in the middle of the degree threshold. In this case, step 730
The duty cycle of the pulse width modulated signal
Initialize to a value that is a predetermined function. Generally, this
Duty cycle value between DCLO and DCHI
Change and react to door speeds between the high and low speed thresholds.
Proportional. Step 720, 724, 728 or 7
30 is the initial duty size of the pulse width modulated signal.
Once the wheel is determined, the routine proceeds to step 732.
Here, the door position at this time is determined by the pulse width modulation signal.
The last door position where the duty cycle change occurred
Is memorized. Then, in step 734, the door speed
First duty cycle value used for degree control
The initial duty cycle value representing
Remembered. Next, in step 736, the initial
Of the PWM signal required to achieve the
On / off time is determined by the determined duty cycle value.
Retrieved from memory as a function. These times are
FET2 to achieve the required duty cycle value
9 and 10 to control the on / off time of 50
Used by the timer routine. Step 73
After step 6, the program exits the PWM start routine.
You. The pulse width modulation control of the electric motor 108 is once opened.
When started, the PWM update routine of FIGS.
Pulse width modulation signal to achieve the required door speed characteristics.
Adjust the duty cycle value continuously. In general,
The PWM update routine determines whether the door speed is related to each door position range.
It is determined whether the speed is within the required range. F
Duty size of PWM signal given to ET250
To control the door speed within the required speed range.
Door speed since last adjustment of duty cycle
The door position while the speed continuously deviates from the required speed band
It is adjusted only when it changes by a predetermined amount. Door speed
During the continuous departure from the required speed band.
The specified amount of door position change depends on which speed range is required.
Depending on the speed range, and for the required speed range
It may depend on whether the door speed is too fast or too slow. The PWM update routine starts at step 800.
In step 802, the PWM flag is set to the PWM
The PWM start routine shown in FIGS.
It is determined whether the reset has been performed. If set
If not, the program exits the routine. pulse width
The duty cycle of the modulated signal is
Door position has changed since last update detected in
Only updated if. If the door position did not change
If so, the program exits the routine. Otherwise,
Routine is the duty cycle of the pulse width modulated signal
To determine if is to be adjusted for door speed control
You. In the following description, various door speed values will be
SENSOR1 period PTIM time T1, T2, T3,
Represented by T4, T5 and T6. These times
To illustrate the relationship in, one of these time values
An example is as follows. T1 = 32 ms, T2 = 2
9 ms, T3 = 48 ms, T4 = 45 ms, T5
= 56 ms, and T6 = 53 ms. At step 806, door position DOO
RP is compared with the position CT1.
108 pulse width modulation control, door speed was too fast
Only allowed if. Is door position equal to CT1?
Or higher, the required speed range for the door
The time T is defined by the period PTIM of the signal SENSOR1.
It is represented somewhere in the range between 1 and T2. here
T1 represents the lower speed boundary and T2 represents the upper speed boundary.
I forgot. Step 808 determines that the cycle of the signal SENSOR1 is
Being larger than the lower speed boundary T1 and the door speed is too low
Is determined. If the door speed is too low,
The program proceeds to step 810 where the underspeed
The rug is set. Period PTI of signal SENSOR1
If M is less than or equal to time T1, the door speed
It is never too low. Returning to step 806, the door position DOOR
If P is less than CT1, step 812 includes cabling
Of the pulleys enter the transition grooves 162 and 160 of the pulleys 84 and 96.
Door position DOORP is larger than door position RAMP
Determine whether or not. Door position is this transition position RAMP
Between CT1 and CT1, the required speed range is time
The signal SENSOR1 somewhere in the range between T3 and T4
The period is represented by Where T3 is the lower speed boundary
And T4 represents the upper degree boundary. Therefore, DOOR
If P is greater than RAMP, step 814 determines whether the signal S
The period PTIM of ENSOR1 indicates the low speed in the above range.
The time T3 is compared with the time T3. PTIM is larger than T3
If the door speed is too low, the program proceeds to step 810
Is set to the underspeed flag. Other places
If so, the door speed is not too low. Returning to step 812, the door position DOOR
P starts when the cable transitions to the small diameter portions of pulleys 84 and 96.
If it is less than or equal to
The required speed range of the signal SENSOR1 equal to T5
Speed represented by the period PTIM of the vehicle and the door position D
OORP winds the cable around the small diameter part of pulleys 84 and 96
Equal to time T4 to indicate that it is not
DOORP cable is wrapped around the small diameter part of the pulley
If it is equal to or less than the starting position, the signal SENS equal to the time T6
And the upper speed represented by the period PTIM of OR1.
Is restrained. The door position is first determined by step 812.
The cable starts to transition to the small diameter part of the pulley as shown
The door position that is equal to the transition position.
At the first detection, the duty cycle of the pulse width modulated
Icle reduces the motor output to the previously established minimum torque
To be smaller and to initiate power reversal
The door to that position to create a small disturbance load.
The lowest duty size established throughout the
Initialized to the loop. This is because the door position DOORP is
Location representing the first entry into the transition section of
The line as beginning at step 816 is compared to RAMP
Will be If the door position is equal to this value,
The cycle proceeds to step 818 as described below.
Low duty cycle stored by the PWM update routine
Set equal to the cycle. Door position further closed
When approaching the chain condition, step 818 is bypassed.
Therefore, this duty cycle is
And when the door reaches the predetermined position RAMP
Is set only once. Next, step 820 sets the close vicinity flag.
After that, the period PTIM of the signal SENSOR1 becomes
In step 822, the low speed threshold of the required speed range is set.
The time T5 is compared with the time T5. PTIM is larger than T5
If so, the door speed is too low and the program proceeds to step 81
Proceed to set underspeed flag at 0
You. Otherwise, the door speed will not be too low. The door speed is too low and the underspeed flag is set.
The routine determines that it has been set in step 810
If so, the routine proceeds to step 824.
Here, the duty cycle decrementing door position DEC is
It is set equal to the door position DOORP at that time. So
After the difference position DIFFP, that is, the duty cycle
Decrementing door position INC and subsequent door position DOORP
Is determined. The door position INC is a PWM signal
Duty cycle has been increased or the door
This is the last door position where the speed was not too low. Therefore,
The value DIFFP determined in step 826 is
Door speed has been continuously low since the last increase of the number
The distance the door has moved between. Next, the program proceeds to step 828.
The spring loaded plunger contacts 301a-301e are static.
It is determined whether the stop contacts 300a to 300e are engaged.
You. If the plunger engages,
Higher resistance will be encountered and the program will:
To maintain the door speed and move the door to the closed position
In order to increase the motor torque required to continue operation,
Greater duty cycle for pulse width modulated signals
Make adjustments. First, the plunger signal of inverter 317
Signal output is active, indicating that the plunger is engaged
If so, step 830 sets the value DIFFP to 2
And compare with the count. DIFFP equals 2
And therefore while the door speed is continuously too low,
The door has been at least since the last cycle
If a position count of 2 indicates no exercise,
The program exits the routine. However, DIFFP
Is greater than or equal to 2 and the duty cycle of the PWM signal
Is continuously low since the last increment
The door has moved at least two position counts during
Indicates that the duty cycle is
The condition for increasing the machine torque is satisfied. Therefore,
Step 832 is performed first, in which the INC
The value is reset to the current door position DOORP,
After step 834, the duty cycle is power closed.
Than the lowest duty cycle established during exercise
Determine if it has been incremented by two levels. This is
To increase motor torque to control speed
Indicates the limit of adjustment of the tea cycle. Duty ratio
If the cycle is incremented by two levels, the program
Exit from routine. Two levels of duty cycle
If has not been incremented, the duty cycle will be
Incremented in step 836 to set the door speed to the required speed
Increase the motor torque to increase towards the degree range. Hope
In a preferred embodiment, the duty cycle is 5%
Incremented by floor. Therefore, duty cycle
By incrementing at step 836, the duty cycle
The cycle is adjusted by 5%. Then, step 83
In FIG. 8, the parameters that establish the required duty cycle
The on / off count of the timer
Retrieved from memory as a function of the health cycle
You. During these times, the FET 250 is switched to the required duty cycle.
.Use in timer circuits for controlling in cycles
Can be Returning to step 828, the plunger signal
Is inactive, indicating that the plunger was not engaged.
If the cable is active, step 840 indicates that the cable is
The door position indicates that it is being wound around the small diameter portions of
Judge whether the position indicates. When this condition exists,
A preferred embodiment is before the duty cycle is incremented.
The speed of the door movement is greater while the speed is continuously too low.
Requesting a greater distance, increases the system's effort.
And make it less responsive. Therefore, in step 842,
And the difference position DI calculated in step 826
The FFP is compared to a large door movement of 9 counts.
Door speed since duty cycle was last incremented
The door moves this distance while is too low continuously
The program exits the routine. Only
And DIFFP is equal to or greater than 9
To increase motor torque and therefore door speed.
The condition for incrementing the duty cycle is met.
Therefore, the program determines the duty of the pulse width modulated signal.
Step 8 as described above to increment the cycle
Proceed to execute 32-838. Returning to step 840, the door position DOOR
P is wound around the small diameter portion of the pulleys 84 and 96
If the door movement DIFFP is not
Pulse width if greater than or equal to 5
The duty cycle of the modulation signal is incremented. Follow
In step 844, in step 826
The calculated difference position DIFFP is equal to 5 counts
Compared to the change in position. The door position changes by this amount
If not, the program exits the routine. I
However, if DIFFP is equal to 5 and the duty cycle
Door speed has been continuously too low since was last incremented
To indicate that the door position has changed by 5 counts
Routine determines the duty cycle of the pulse width modulated signal.
Steps 832-838 previously described for incrementing the wheel
Proceed to run. As described above, when the door speed is too low.
As long as the routine remains in the required speed range.
The duty cycle to increase the door speed.
Make adjustments. Duty cycle drives doors to desired speed
The motor torque required to maintain the motor torque is also shown. Steps 808, 814 and 822
That the door speed is not too fast and therefore within the specified range
If it is determined to be too low or too low, the routine
Proceed to step 846 where the duty cycle incremental door
The position INC is set equal to the current door position DOORP.
Is The routine then determines if the door speed is
Determine if it is too early according to the associated speed range.
This begins at step 848 where the door position DOO is
RP sets the position threshold used in step 806
The position is compared with the position CT1. Door position equal to CT1
If greater or greater, the routine will
In step 850, the period PTIM of the sensor signal is set to the speed range.
Is compared with the time T2 representing the high speed threshold value of. Periodic PTI
If M is greater than T2, door speed is within required speed range
At step 852, the program
The T-cycle decrement position DEC to the current position DOOR
Set equal to P, then program is a routine
Break through. However, the period PTIM of the sensor signal is smaller than T2.
If not, the door speed is faster than the high speed threshold and
The program proceeds from step 850 to step 854,
Where the difference position DIFFP is the duty cycle decrement
Between the door position DEC and the current door position DOORP
Set equal to the difference. This value is
Speed has been continuously decremented since the last cycle
Represents the distance the door has moved too early. Returning to step 848, if the door position is CT1
If it is smaller, in step 855 the door position DO
For ORP, the cable is wound around the small diameter part of pulleys 84 and 96
It is compared with a position RAMP indicating that it is being turned on. Do
A) The position is larger than RAMP and the cable transitions to the pulley
If so, at step 856
Sensor signal period PTIM represents high speed threshold in speed range
This is compared with the time T4. PTIM is bigger than T4
Speed is within the required speed range and the program
Duty cycle decrement door position at step 858
Proceed to set the position DEC equal to DOORP,
Then the program exits the routine. Sensor signal circumference
If the period PTIM is not greater than T4, the speed is too fast,
The program proceeds to step 854 as described above.
Proceed to calculate the difference position DIFFP. Returning to step 855, the door position DOOR
P indicates that the cable is being wound around the small diameter part of the pulley.
Indicates that the sensor signal period P
TIM is greater than time T6 representing the high speed threshold of the speed range
Determine if it works. Sensor signal cycle PTIM is T6
If higher, the door speed is within the required speed range,
The routine proceeds to step 858 where the duty cycle
Set the decrement door position DEC equal to DOORP
To progress. However, the period PTIM is larger than T6
If not, the DIFFP value is set to step 8 as described above.
Calculated at 54. Throat of steps 850, 856 and 860
If this determines that the door speed is too fast,
After step 854, step 862 determines if pulse width modulation is the highest.
The door speed has been reduced to the required speed range since it was first started.
It is determined whether it has been done. In this regard, the door speed
If not reduced to the required speed range,
The door is a certain amount within the predetermined door movement
If you did not reduce the door speed, the system
Causes a substantial drop. Therefore, if the door is within the required speed range
If not, step 864 determines this speed
Reduced by a predetermined amount over a specific door momentum
Is determined. If not, the difference position DI
FFP is compared to a predetermined small value such as three. Speed
Duty cycle lasts while degrees are too fast
Door position has changed more than 3 counts since it was reduced
If not, the program exits the routine.
However, the difference position DIFFP is greater than 3 and the door speed
Degrees since the last duty cycle decrement
Do not indicate that it was too early during the und door movement
If so, step 868 sets the door decrement position DEC at that time.
Is set to the position DOORP, and then step 870
And 878 are executed to execute steps 862 and 864.
Repeat function. These conditions were not met
The routine proceeds to step 880 because
Go where the duty cycle value is like 10%
Compare to lowest possible duty cycle value DC0
Is done. Duty cycle has already been reduced to this value
If so, the program exits the routine. Also
If not, step 882 reduces the duty cycle.
Motor torque output reduced to reduce door speed
You. Also, if the resulting duty cycle value is
Less than the lowest duty cycle value stored in
A new duty cycle value
Stored as a duty cycle value. Then Deute
The on / off time of the cycle pulse is
Retrieved from memory as a function of the duty cycle,
Used by the timer routine of FIGS.
FET 250 at the required duty cycle
Control. Returning to step 864, the speed is designated.
If the amount is reduced by a predetermined amount within the working distance of the closed door
If the routine determines whether the difference position DIFFP is greater than 8,
Determine whether If not, the duty
There is no requirement to decrement the cycle
The program exits the routine. However, the door speed
8 position counts since the last tee cycle decremented
If it is too early for the duration of the
Proceed to 68, where the door decrement position DEC is set to DOORP
Set equal, then step 870 determines the door speed
Is within the required speed range. This article
The condition was not met (this is
Step 878 is the required reduction
Upon determining that the speed criteria has been met, the routine proceeds to step 8
Go to 88 where the current duty cycle is
Compared to the second duty cycle level DC1
It is. This duty cycle represents, for example, 15%.
I forgot. Duty cycle must be greater than this value
If the duty cycle begins to decrease further,
The program exits the routine. Otherwise,
882 reduces the duty cycle to the next lower level
Reduced and lower than the lowest duty cycle stored
If so, it is stored as a new lowest value. Then the required
Pulse on / off to establish duty cycle
Off time is derived from an index table in memory.
9 to establish the required duty cycle value.
And the timer routine of FIG. Returning to step 862, if the door speed is
If the door speed is continuously high,
Door speed only 5 counts since last decrement
If it does, the duty cycle of the pulse width modulated signal
The circle is decremented. This condition is determined in step 890.
Detected. If DIFFP is not greater than 5,
The program exits the routine. However, DIFFP
Required door greater than 5 and speed is too fast continuously
If the exercise is indicated, the routine, as described above,
Control duty cycle to establish required door speed
Controlling steps 868, 870, 888, 882 and
Proceed to execute 884. As described above, the door speed is determined by the motor torque.
Duty cycle of the pulse width modulation signal to control
Closed loop control by adjusting the control value. In the power motion control routine shown in FIGS.
As mentioned earlier, the power movement of the door is
To invert, or if the previous inversion has been
If the pulse time PTIM of the position sensor is
Is reversed when the stop time, which represents the encounter with Do
Predetermine the disturbance load required to initiate
Very low disturbance load resistance while keeping within the limits
In order not to reverse the power motion, the motions shown in FIGS.
The stop time used in the force motion control routine is
Of the pulse width modulation signal of the voltage applied to the
And a predetermined function of the duty cycle. In particular,
The stopping time is further indicated by motor voltage data, which is an indication of motor torque.
Duty cycle. Preferred practice
In the example, the PWM update routine shown in FIGS.
For each duty cycle value established by
There is a corresponding downtime used to detect the load
You. Generally, the motor is operating under high torque conditions
Occasionally, the inverting load characteristic for detecting the disturbance load is low
Downtime should be relatively high, so that
It is reduced at the tea cycle value. In the stop time update routine, step 900 is executed.
At step 902 and the door moves by power.
It is determined whether it is being performed. Door to electric motor 108
If not more driven, the program
Exit. Stop time if the door is being powered
The position signal SEN has been changed since the last execution of the update routine.
The stop time is updated only when SOR1 occurs.
Step 904 determines that no position pulse has occurred.
If so, the program exits the routine. Must be
If the average period of the position signal SENSOR1 is
Calculated at 6. In this example, the sensor signal
The average period is equal to the average value before the period PTIM of the sensor signal.
For the calculation of 75% of the sum with the last determined period PTIM
It is based. Step 908 is a step in which the power movement is started.
Thereafter, the distance CNT2 of the power movement of the door exceeds the threshold CT4.
It is determined whether it has been completed. If not, downtime
Is set to a constant value such as a quarter second in step 910.
Set equal. But the door is at least
If you have exercised a distance greater than CT4, step
912 determines if the door is opening or closing.
Set. If the door is being opened, step 90
The stop time based on the average period calculated in
Calculated in step 914. In one embodiment, the
Is 1/8 (*) in this step.
AVE) + ／ * AVE, where AV
E is the value calculated in step 906. Stay
The door 912 is not in the state where the door is being opened,
If it is determined that indicates that the power is closing
Step 916 is a step in which the PWM flag is set and the motor
Can be changed by duty cycle modulated pulse width signal
It is determined whether or not it indicates that the function is being controlled. P
If the WM flag is not set, the stop time
Step 914, just like when the power is being released
Is calculated. In step 916, the PWM flag is set.
If so, step 918 is performed as shown in FIGS.
Duty established by PWM update routine of 25
Determine the stop time offset as a function of cycle
You. The stop time is determined in step 920 by step 9
The position pal finally determined by the offset obtained by 18
Is determined by adding to the period PTIM of the data. S
The stop time offset obtained in step 918 is
Is inversely proportional to the duty cycle of the
The downtime is low duty cycle / low motor
Higher duty cycle / higher power under lux conditions
It becomes larger than under the condition of the machine torque. This is high
Door at low disturbance load values during high motor torque conditions
At the same time as low motor torque
To prevent reversal of power motion at very low disturbance load resistance
To produce the desired result. Next, in step 922, the signal PLUNG
The engagement state represented by the active state of the ER
It is determined whether there is a controller. Plunger engaged
Then these plungers are higher for the door movement
Electric resistance to maintain door speed
Increase the duty cycle of the signal applied to the
I need it. This condition is shown in FIGS.
To prevent the routine from interpreting it as a reversal condition,
Step 924 increases the downtime. In one embodiment
Can occur when the door engages the plunger.
The deceleration of the door is affected by the disturbance load by the power motion control routine.
The downtime is doubled so that it is not interpreted as such. Stop
Once the time is determined, step 926 sets the stop time
Limit to a predetermined maximum and minimum value, and then
Ram exits the routine. [0127] US patent application no.
No. 63,620 and the abstract accompanying the present application
Are incorporated into the text for reference.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing the inside of a vehicle showing an overall configuration of a sliding door provided with a power door operating mechanism. FIG. 2 is an exploded view showing the door operation mechanism of FIG. FIGS. 1 and 2 in which each part is broken and shown in cross section
It is sectional drawing of the apparatus of FIG. FIG. 4 is a diagram showing a door latch in the mechanism of FIG. 1; FIG. 5 is a block diagram and circuit diagram showing a controller for the power door closing mechanism of FIGS. 1-4. FIG. 6 is a block diagram and a circuit diagram showing a controller for the power door closing mechanism of FIGS. 1 to 4 in conjunction with FIG. 5; FIG. 7 shows a signal LA generated by the apparatus of FIGS. 4 to 6;
It is a graph which shows TCH. FIG. 8 is a circuit diagram showing a power supply device for the controller of FIGS. 5 and 6; FIG. 9 is a flowchart showing the operation of the controller shown in FIGS. 5 and 6; FIG. 10 is a flowchart showing the operation of the controller in FIGS. 5 and 6; FIG. 11 is a flowchart showing an operation of the controller in FIGS. 5 and 6; FIG. 12 is a flowchart showing the operation of the controller shown in FIGS. 5 and 6; FIG. 13 is a flowchart showing the operation of the controller shown in FIGS. 5 and 6; FIG. 14 is a flowchart showing the operation of the controller shown in FIGS. 5 and 6; FIG. 15 is a flowchart showing the operation of the controller in FIGS. 5 and 6; FIG. 16 is a flowchart showing an operation of the controller in FIGS. 5 and 6; FIG. 17 is a flowchart showing the operation of the controller in FIGS. 5 and 6; FIG. 18 is a flowchart showing the operation of the controller shown in FIGS. 5 and 6; FIG. 19 is a flowchart showing the operation of the controller in FIGS. 5 and 6; FIG. 20 is a flowchart showing the operation of the controller in FIGS. 5 and 6; FIG. 21 is a flowchart showing the operation of the controller shown in FIGS. 5 and 6; FIG. 22 is a flowchart showing the operation of the controller in FIGS. 5 and 6; FIG. 23 is a flowchart showing the operation of the controller in FIGS. 5 and 6; FIG. 24 is a flowchart showing an operation of the controller in FIGS. 5 and 6; FIG. 25 is a flowchart showing the operation of the controller in FIGS. 5 and 6; FIG. 26 is a flowchart showing an operation of the controller in FIGS. 5 and 6; [Description of Signs] 12 doors; 14 arms; 16 lower track;
18 floor; 22; upper arm; 24 rollers;
26 rollers; 30 upper tracks; 34 sealing weatherstrips; 36 door latches; 37 strikers; 38 housings;
0 throat; 42 bifurcated bolt; 44 pivot point;
48 detent; 50 pivot; 52 detent tooth; 54 latch hook; 55 primary hook;
0 Latch switch; 62 Follower; 70 Motor power movement mechanism; 72 Cable; 73 Grommet; 74 Guide sleeve; 76 Pulley;
Shaft; 80 pulleys; 82 shafts; 84 reels;
86 Housing; 88 Cable; 94 Pulley; 95 Axle; 96 Reel; 98 Mounting Bracket; 100 Spindle; 102 Drive Gear;
106 Housing; 108 Motor; 110
Pinion gear; 112 Stationary spindle; 114
Electromagnetic clutch assembly; 116 output gear; 122
Slotted disc; 124 position sensor; 126
Drive projection; 128 drive projection; 132 drive projection; 134 drive projection; 140 tension spring;
50 Large diameter portion; 156 Spiral cable groove; 158
160 Spiral cable groove; 162 transition groove; 170 Large diameter part; 172 Spiral cable groove;
174 small diameter section; 176 spiral cable groove; 1
80 transition groove; 186 cover; 192 exit

Continuation of the front page (72) Inventor Gary David Bree, Pine Knob Lane, Clarkston, Michigan, USA 48346, 5860 (56) References JP-A-5-112128 (JP, A) (JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) B60J 5/06

Claims (1)

Claims: 1. Electrical drive means (108, 70) and said electrical drive for energizing said electrical drive means to drive a vehicle door (12) to a closed position. A power supply (205, 262, 250) for providing a pulse width modulated control voltage at a controlled duty cycle to the means, wherein the electric drive means comprises: Detecting the movement of the door (124, 205, 39) in a method having a torque output that varies in a direct relationship with the duty cycle.
0) and steps for detecting the door speed (124, 205, 37)
2, 394), detected since the last increase in the duty cycle.
Wherein while the door speed is continuously less than the required speed, before the
Determining the moving distance of the vehicle door (205,
826) and detected since the last reduction of the duty cycle.
Wherein while the door speed is continuously greater than the desired speed, determining a distance that the motional was the (205,8
54) detected since the last increase in the duty cycle
Wherein when the door speed exceeds the distance distance determined in the is that first predetermined between said successively smaller than the required speed, before increasing the torque output of said electric drive means is
A step (205,836) to increase the duty cycle to increase the serial door speed is detected since the last reduction of the duty cycle
Wherein when the door speed exceeds the distance distance determined in the is that second predetermined between continuously greater than the desired speed, before decreasing the torque output of said electric drive means is
Serial step of reducing the duty cycle to reduce the door speed (205,882) comprises a, thereby the vehicle door control method characterized by controlling the door speed to the required speed.